Singularity Free Path Planning for Parallel Robots

Abstract

In this paper, we present a procedure to automatically generate the kinematic model of parallel mechanisms as well as an algorithm for their singularity free path planning. Singular positions are considered as obstacles that have to be bypassed while moving toward the goal. The 3-RPR planar parallel robot was taken as an example to illustrate the effectiveness of the procedure. This proposed method can be easily extended to other similar parallel mechanisms.